code: def solve(self, verts3d, verts2d):
      print(verts3d.shape, verts2d.shape)
      B = verts3d.shape[0]
      R = np.zeros([B, 3, 3], dtype=np.float32)
      t = np.zeros([B, 1, 3], dtype=np.float32)
      for n in range(B):
          _R, _t = solver_rigid(
              verts3d[n], verts2d[n], self.camera_matrix
          )
          R[n] = _R
          t[n, 0] = _t
      return R, t
  
imports: import os
  import time
  import timm
  import glob
  import numpy
  import os.path
  import cv2
  import torch
  import torch.distributed
  from torch import nn
  from pathlib import Path
  from backbones import get_network
  from skimage import transform
  from scipy.spatial.transform import Rotation
label_desc: Use image node_id 8 for calling the JMLRInference obj's underlying member method code with example usage: obj.solve(verts3d, verts2d) and returns: R,  t